Automatic parking method and device, storage medium and computer equipment

The invention provides an automatic parking method and device, a storage medium and computer equipment. The method comprises the steps of performing scene recognition by using a scene recognition model, and determining a target parking lot scene; according to the target parking scene, selecting a parking space selection model corresponding to the target parking scene from the plurality of parking space selection models as a parking space selection target model, and selecting a trajectory planning model corresponding to the target parking scene from the plurality of trajectory planning models as a trajectory planning target model; selecting a target parking space in the current road environment by using a parking space selection target model; planning a target trajectory by using the trajectory planning target model, wherein the target trajectory is used for indicating the vehicle to move from the current position to the target parking space; and controlling the vehicle to park according to the parking mode co